Please use this identifier to cite or link to this item:
http://localhost/handle/Hannan/207665
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DC Field | Value | Language |
---|---|---|
dc.contributor.author | Weize Zhang | en_US |
dc.contributor.author | Juntian Qu | en_US |
dc.contributor.author | Xuping Zhang | en_US |
dc.contributor.author | Xinyu Liu | en_US |
dc.date.accessioned | 2013 | en_US |
dc.date.accessioned | 2020-04-06T07:57:07Z | - |
dc.date.available | 2020-04-06T07:57:07Z | - |
dc.date.issued | 2017 | en_US |
dc.identifier.other | 10.1109/TMECH.2017.2721159 | en_US |
dc.identifier.uri | http://localhost/handle/Hannan/207665 | - |
dc.description.abstract | Many micromanipulation systems employ sensorless actuators and possess unknown modeling errors, feedback measurement noises, and time delays. Conventional model-based control schemes ignore some of these uncertainties, and thus sacrifice the control system performance. This paper presents a new model compensation-prediction scheme for micromanipulation systems that can be described by two-dimensional state-space models, estimate the unknown modeling errors from noisy single feedback measurement, and predict and compensate the system time delay. This approach combines two modeling errors into a single equivalent modeling error through mathematical transformation, and estimates the combined term using a noise-insensitive extended high-gain observer. After removing the unknown term, the system is then transformed into a time-invariant form, and a Smith predictor is implemented to predict and compensate the time delay. The effectiveness of the proposed compensation-prediction scheme is demonstrated by both numerical simulations and experiments on two typical micromanipulation systems, namely a robotic biosample stimulator and a material characterization microgripper. The results show that this method can significantly improve the control performance of a conventional proportional-integral-derivative controller, by simultaneously reducing the settling time and overshoot of the micromanipulation systems. | en_US |
dc.format.extent | 1973, | en_US |
dc.format.extent | 1982 | en_US |
dc.publisher | IEEE | en_US |
dc.relation.haspart | 7961243.pdf | en_US |
dc.title | A Model Compensation-Prediction Scheme for Control of Micromanipulation Systems With a Single Feedback Loop | en_US |
dc.type | Article | en_US |
dc.journal.volume | 22 | en_US |
dc.journal.issue | 5 | en_US |
Appears in Collections: | 2017 |
Files in This Item:
File | Size | Format | |
---|---|---|---|
7961243.pdf | 710.37 kB | Adobe PDF |
Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Weize Zhang | en_US |
dc.contributor.author | Juntian Qu | en_US |
dc.contributor.author | Xuping Zhang | en_US |
dc.contributor.author | Xinyu Liu | en_US |
dc.date.accessioned | 2013 | en_US |
dc.date.accessioned | 2020-04-06T07:57:07Z | - |
dc.date.available | 2020-04-06T07:57:07Z | - |
dc.date.issued | 2017 | en_US |
dc.identifier.other | 10.1109/TMECH.2017.2721159 | en_US |
dc.identifier.uri | http://localhost/handle/Hannan/207665 | - |
dc.description.abstract | Many micromanipulation systems employ sensorless actuators and possess unknown modeling errors, feedback measurement noises, and time delays. Conventional model-based control schemes ignore some of these uncertainties, and thus sacrifice the control system performance. This paper presents a new model compensation-prediction scheme for micromanipulation systems that can be described by two-dimensional state-space models, estimate the unknown modeling errors from noisy single feedback measurement, and predict and compensate the system time delay. This approach combines two modeling errors into a single equivalent modeling error through mathematical transformation, and estimates the combined term using a noise-insensitive extended high-gain observer. After removing the unknown term, the system is then transformed into a time-invariant form, and a Smith predictor is implemented to predict and compensate the time delay. The effectiveness of the proposed compensation-prediction scheme is demonstrated by both numerical simulations and experiments on two typical micromanipulation systems, namely a robotic biosample stimulator and a material characterization microgripper. The results show that this method can significantly improve the control performance of a conventional proportional-integral-derivative controller, by simultaneously reducing the settling time and overshoot of the micromanipulation systems. | en_US |
dc.format.extent | 1973, | en_US |
dc.format.extent | 1982 | en_US |
dc.publisher | IEEE | en_US |
dc.relation.haspart | 7961243.pdf | en_US |
dc.title | A Model Compensation-Prediction Scheme for Control of Micromanipulation Systems With a Single Feedback Loop | en_US |
dc.type | Article | en_US |
dc.journal.volume | 22 | en_US |
dc.journal.issue | 5 | en_US |
Appears in Collections: | 2017 |
Files in This Item:
File | Size | Format | |
---|---|---|---|
7961243.pdf | 710.37 kB | Adobe PDF |
Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Weize Zhang | en_US |
dc.contributor.author | Juntian Qu | en_US |
dc.contributor.author | Xuping Zhang | en_US |
dc.contributor.author | Xinyu Liu | en_US |
dc.date.accessioned | 2013 | en_US |
dc.date.accessioned | 2020-04-06T07:57:07Z | - |
dc.date.available | 2020-04-06T07:57:07Z | - |
dc.date.issued | 2017 | en_US |
dc.identifier.other | 10.1109/TMECH.2017.2721159 | en_US |
dc.identifier.uri | http://localhost/handle/Hannan/207665 | - |
dc.description.abstract | Many micromanipulation systems employ sensorless actuators and possess unknown modeling errors, feedback measurement noises, and time delays. Conventional model-based control schemes ignore some of these uncertainties, and thus sacrifice the control system performance. This paper presents a new model compensation-prediction scheme for micromanipulation systems that can be described by two-dimensional state-space models, estimate the unknown modeling errors from noisy single feedback measurement, and predict and compensate the system time delay. This approach combines two modeling errors into a single equivalent modeling error through mathematical transformation, and estimates the combined term using a noise-insensitive extended high-gain observer. After removing the unknown term, the system is then transformed into a time-invariant form, and a Smith predictor is implemented to predict and compensate the time delay. The effectiveness of the proposed compensation-prediction scheme is demonstrated by both numerical simulations and experiments on two typical micromanipulation systems, namely a robotic biosample stimulator and a material characterization microgripper. The results show that this method can significantly improve the control performance of a conventional proportional-integral-derivative controller, by simultaneously reducing the settling time and overshoot of the micromanipulation systems. | en_US |
dc.format.extent | 1973, | en_US |
dc.format.extent | 1982 | en_US |
dc.publisher | IEEE | en_US |
dc.relation.haspart | 7961243.pdf | en_US |
dc.title | A Model Compensation-Prediction Scheme for Control of Micromanipulation Systems With a Single Feedback Loop | en_US |
dc.type | Article | en_US |
dc.journal.volume | 22 | en_US |
dc.journal.issue | 5 | en_US |
Appears in Collections: | 2017 |
Files in This Item:
File | Size | Format | |
---|---|---|---|
7961243.pdf | 710.37 kB | Adobe PDF |